Non-inductive angle compensation method and device, electronic equipment and storage medium

Abstract

The embodiment of the application provides a kind of non-inductive angle compensation method, device, electronic equipment and storage medium, belong to power electronics field.The method includes: the phase end voltage of permanent magnet synchronous motor is sampled by sampling circuit, and sampling voltage is obtained;Obtain the first relationship curve of amplitude compensation multiple and the electrical angular velocity of permanent magnet synchronous motor, and the first relationship curve is fitted into the first relationship polyline using the first fitting function;According to the first relationship polyline, the amplitude compensation of sampling voltage is carried out, and amplitude compensation result is obtained;Obtain the second relationship curve of phase compensation angle and electrical angular velocity, and the second relationship curve is fitted into the second relationship polyline using the second fitting function;According to the second relationship polyline, the phase compensation of the amplitude compensation result is carried out, and angle compensation result is obtained.Only in software level is improved, overcomes the amplitude attenuation and phase lag caused by capacitance, improves sampling accuracy, reduces the error of non-inductive angle solution.

Description

Technical Field

[0001] This application relates to the field of power electronics technology, and in particular to a non-inductive angle compensation method, device, electronic device, and storage medium. Background Technology

[0002] Most control methods for permanent magnet synchronous motors employ field-oriented control (FOC), which requires obtaining the motor's rotor angle. A commonly used method for obtaining the rotor angle is the sliding diaphragm sensorless angle calculation method, which requires phase voltage. Generally, an RC low-pass filter is used to filter out high-frequency signals contained in the phase-to-ground voltage, retaining the usable signal from the phase to ground. Then, the rotor angle is obtained through a sliding diaphragm sensorless algorithm and a phase-locked loop (PLL). However, the RC filter introduces amplitude attenuation and phase lag into the signal. Phase lag can cause incorrect angle calculation, leading to abnormal current in the motor control and unusual motor noises.

[0003] Existing technologies generally use Hall effect sensors or other types of position sensors to correct the non-sensory angle calculation. If the position sensor malfunctions, it is impossible to correct the non-sensory angle calculation. Summary of the Invention

[0004] To address the aforementioned technical problems, embodiments of this application provide a method, apparatus, electronic device, and storage medium for seamless angle compensation.

[0005] In a first aspect, embodiments of this application provide a non-sensory angle compensation method, the method comprising:

[0006] The sampling voltage is obtained by sampling the phase terminal voltage to ground of the permanent magnet synchronous motor through a sampling circuit.

[0007] Obtain the first relationship curve between the amplitude compensation multiple and the electric angular velocity of the permanent magnet synchronous motor, and use the first fitting function to fit the first relationship curve into a first relationship piecewise line;

[0008] The amplitude of the sampled voltage is compensated based on the first relationship line to obtain the amplitude compensation result;

[0009] Obtain the second relationship curve between the phase compensation angle and the electric angular velocity, and use the second fitting function to fit the second relationship curve into a second relationship piecewise line;

[0010] Phase compensation is performed on the amplitude compensation result based on the second relationship broken line to obtain the angle compensation result.

[0011] In one embodiment, the sampling circuit includes an RC low-pass filter. The step of sampling the phase-to-ground voltage of the permanent magnet synchronous motor through the sampling circuit to obtain the sampled voltage includes:

[0012] The original voltage of the phase terminal of the permanent magnet synchronous motor relative to ground is obtained through the input terminal of the RC low-pass filter;

[0013] The sampled voltage is output through the output terminal of the RC low-pass filter.

[0014] In one embodiment, the method further includes: the RC low-pass filter includes a first sampling resistor and a second sampling resistor connected in series, and a sampling capacitor connected in parallel with the second sampling resistor;

[0015] The first end of the first sampling resistor is the input terminal, the second end of the first sampling resistor is electrically connected to the first end of the second sampling resistor, the first end of the sampling capacitor is electrically connected to the first end of the second sampling resistor, the second end of the sampling capacitor is electrically connected to the second end of the second sampling resistor, and the first end of the sampling capacitor is the output terminal.

[0016] In one embodiment, obtaining the first relationship curve between the amplitude compensation factor and the electrical angular velocity of the permanent magnet synchronous motor includes:

[0017] Obtain the transfer function of the sampling circuit;

[0018] Generate the Bode plot of the transfer function;

[0019] The first relationship curve is calculated based on the Bode plot of the transfer function.

[0020] In one embodiment, fitting the first relationship curve into a first relationship polyline using a first fitting function includes:

[0021] The first fitting function is:

[0022] k = 10 ≤ ω e <n1

[0023] k=a1ω e +b1 n1≤ω e <n2

[0024] k=a2ω e +b2 n2≤ω e <n3;

[0025] k=a3ω e +b3 n3≤ω e <n4

[0026] k=a4ωe +b4 n4≤ω e <n5

[0027] Where, ω e Let be the electric angular velocity, k be the first fitting compensation coefficient, n1 be the first amplitude segment node value, n2 be the second amplitude segment node value, n3 be the third amplitude segment node value, n4 be the fourth amplitude segment node value, n5 be the fifth amplitude segment node value, a1 be the first amplitude fitting parameter, a2 be the second amplitude fitting parameter, a3 be the third amplitude fitting parameter, a4 be the fourth amplitude fitting parameter, b1 be the fifth amplitude fitting parameter, b2 be the sixth amplitude fitting parameter, b3 be the seventh amplitude fitting parameter, and b4 be the eighth amplitude fitting parameter.

[0028] In one embodiment, obtaining the second relationship curve between the phase compensation angle and the electrical angular velocity includes:

[0029] The relationship between the phase compensation angle and the electrical angular velocity is calculated using a sliding mode observer and a phase-locked loop to obtain the second relationship curve.

[0030] In one embodiment, fitting the second relationship curve into a second relationship polyline using a second fitting function includes:

[0031] The second fitting function is:

[0032]

[0033] Where, ω e Let be the electric angular velocity, k be the second fitting compensation coefficient, m1 be the first phase segment node value, m2 be the second phase segment node value, m3 be the third phase segment node value, q1 be the first phase fitting parameter, q2 be the second phase fitting parameter, q3 be the third phase fitting parameter, p1 be the fourth phase fitting parameter, p2 be the fifth phase fitting parameter, and p3 be the sixth phase fitting parameter.

[0034] Secondly, embodiments of this application provide a non-sensory angle compensation device, the non-sensory angle compensation device comprising:

[0035] The sampling module is used to sample the phase-to-ground voltage of the permanent magnet synchronous motor through the sampling circuit to obtain the sampled voltage;

[0036] The first fitting module is used to obtain a first relationship curve between the amplitude compensation multiple and the electric angular velocity of the permanent magnet synchronous motor, and to use a first fitting function to fit the first relationship curve into a first relationship piecewise line.

[0037] The first compensation module is used to perform amplitude compensation on the sampled voltage according to the first relationship line to obtain the amplitude compensation result;

[0038] The second fitting module is used to obtain a second relationship curve between the phase compensation angle and the electric angular velocity, and to fit the second relationship curve into a second relationship piecewise line using a second fitting function;

[0039] The second compensation module is used to perform phase compensation on the amplitude compensation result according to the second relationship line to obtain the angle compensation result.

[0040] Thirdly, embodiments of this application provide an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the computer program executes the non-sensory angle compensation method provided in the first aspect when the processor is running.

[0041] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when run on a processor, executes the non-sensory angle compensation method provided in the first aspect.

[0042] The non-sensory angle compensation method provided in this application is improved only at the software level, which overcomes the amplitude attenuation and phase lag caused by capacitance, improves sampling accuracy, and reduces the error of non-sensory angle calculation. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation on the scope of protection of this application. In the various drawings, similar components are numbered similarly.

[0044] Figure 1 A flowchart of the non-sensory angle compensation method provided in an embodiment of this application is shown;

[0045] Figure 2 A schematic diagram of a sampling circuit provided in an embodiment of this application is shown;

[0046] Figure 3 The Bode diagram of a sampling circuit provided in an embodiment of this application is shown;

[0047] Figure 4 The Bode plot of a transfer function provided in an embodiment of this application is shown;

[0048] Figure 5 A schematic diagram of a first relationship curve provided in an embodiment of this application is shown;

[0049] Figure 6 This paper illustrates a flowchart of amplitude compensation provided in an embodiment of this application.

[0050] Figure 7 A schematic diagram of the second relationship curve provided in an embodiment of this application is shown;

[0051] Figure 8 A schematic diagram of the structure of the sensorless angle compensation device provided in an embodiment of this application is shown. Detailed Implementation

[0052] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0053] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0054] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0055] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0056] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0057] Example 1

[0058] This disclosure provides a method for seamless angle compensation.

[0059] For details, see Figure 1 , Figure 1This paper illustrates a flowchart of a non-sensory angle compensation method provided in an embodiment of this application. The non-sensory angle compensation method includes:

[0060] Step S110: The phase-to-ground voltage of the permanent magnet synchronous motor is sampled by the sampling circuit to obtain the sampled voltage;

[0061] In one embodiment, the sampling circuit includes an RC low-pass filter. The step of sampling the phase-to-ground voltage of the permanent magnet synchronous motor through the sampling circuit to obtain the sampled voltage includes:

[0062] The original voltage of the phase terminal of the permanent magnet synchronous motor relative to ground is obtained through the input terminal of the RC low-pass filter; the sampled voltage is output through the output terminal of the RC low-pass filter.

[0063] The sampling circuit provided in the embodiments of this application is as follows: Figure 2 As shown, Figure 2 The diagram shows a sampling circuit provided in an embodiment of this application, which is a simple and low-cost RC low-pass filter.

[0064] In one embodiment, the method further includes: the RC low-pass filter includes a first sampling resistor and a second sampling resistor connected in series, and a sampling capacitor connected in parallel with the second sampling resistor; a first terminal of the first sampling resistor is the input terminal, a second terminal of the first sampling resistor is electrically connected to the first terminal of the second sampling resistor, a first terminal of the sampling capacitor is electrically connected to the first terminal of the second sampling resistor, a second terminal of the sampling capacitor is electrically connected to the second terminal of the second sampling resistor, and a first terminal of the sampling capacitor is the output terminal.

[0065] Where R1 is the first sampling resistor, R2 is the second sampling resistor, and C is the sampling capacitor. V represents the initial voltage. s This represents the sampling voltage.

[0066] Step S120: Obtain the first relationship curve between the amplitude compensation multiple and the electric angular velocity of the permanent magnet synchronous motor, and use the first fitting function to fit the first relationship curve into a first relationship broken line;

[0067] Figure 3 The Bode plot of the sampling circuit provided in this application embodiment is shown. As can be seen from the Bode plot, high-frequency signals experience amplitude attenuation and phase lag after passing through a low-pass filter. Although the frequency of the voltage signal to ground at the measured phase terminal is low, amplitude attenuation and phase lag still exist. Therefore, amplitude and phase compensation are required to make the sampling data more accurate.

[0068] In one embodiment, obtaining the first relationship curve between the amplitude compensation factor and the electrical angular velocity of the permanent magnet synchronous motor includes:

[0069] Obtain the transfer function of the sampling circuit; generate the Bode plot of the transfer function; calculate the first relationship curve based on the Bode plot of the transfer function.

[0070] use Figure 1 The circuit shown is a voltage sampling circuit. Taking the parameters in Table 1 as examples, the transfer function of the sampling circuit can be calculated using the following method:

[0071] Table 1:

[0072]

[0073] First, establish the transfer function G'(s) for V and Vs, as shown in Equation 1:

[0074]

[0075] Where s represents the complex frequency domain. For ease of analysis, the voltage divider factor is further amplified, increasing R2 to (R1+R2) / R2, resulting in the final transfer function G(s), as shown in Equation 2:

[0076]

[0077] Substituting the parameters into Table 1, we obtain Formula 3:

[0078]

[0079] Therefore, the Bode plot of G(s) can be obtained as follows: Figure 4 As shown in the figure, the faster the electrical angular velocity of the voltage relative to ground, the greater the amplitude attenuation. Based on this, we can obtain... Figure 5 , Figure 5 A schematic diagram of a first relationship curve provided in an embodiment of this application is shown.

[0080] exist Figure 4 In the graph, the vertical axis represents the ratio of the attenuated signal amplitude to the original signal amplitude; the smaller the vertical axis, the greater the attenuation. Therefore, to restore the attenuated signal to its original form, compensation is needed. The compensation factor is the ratio of the original signal amplitude to the attenuated signal amplitude, based on... Figure 4 The relationship between the attenuation factor and the electric angular velocity can be used to obtain the relationship between the compensation factor and the electric angular velocity.

[0081] In one embodiment, fitting the first relationship curve into a first relationship polyline using a first fitting function includes:

[0082] The first fitting function is Equation 4:

[0083] k = 1 0 ≤ ω e <n1

[0084] k=a1ω e +b1 n1≤ω e <n2

[0085] k=a2ω e +b2 n2≤ω e <n3;

[0086] k=a3ω e +b3 n3≤ω e <n4

[0087] k=a4ω e +b4 n4≤ω e <n5

[0088] Where, ω e Let be the electric angular velocity, k be the first fitting compensation coefficient, n1 be the first amplitude segment node value, n2 be the second amplitude segment node value, n3 be the third amplitude segment node value, n4 be the fourth amplitude segment node value, n5 be the fifth amplitude segment node value, a1 be the first amplitude fitting parameter, a2 be the second amplitude fitting parameter, a3 be the third amplitude fitting parameter, a4 be the fourth amplitude fitting parameter, b1 be the fifth amplitude fitting parameter, b2 be the sixth amplitude fitting parameter, b3 be the seventh amplitude fitting parameter, and b4 be the eighth amplitude fitting parameter.

[0089] The 'k' obtained in this step is the compensation factor for amplitude compensation. The purpose of fitting the first relationship curve to a piecewise linear function in this step is that, in permanent magnet synchronous motor control, commonly used microcontrollers cannot fit the curve very well; therefore, a piecewise function is used to fit the curve to a straight line. Because the fitting function is a piecewise function, the final result should be a piecewise linear function.

[0090] Step S 130: Perform amplitude compensation on the sampled voltage according to the first relationship broken line to obtain the amplitude compensation result;

[0091] Specifically, the real-time electric angular velocity can be obtained, and amplitude compensation can be performed based on the current electric angular velocity. Figure 6 A schematic diagram of an amplitude compensation process provided in an embodiment of this application is shown:

[0092] In one specific embodiment, it can be calculated using Formula 5:

[0093]

[0094] In the formula a 1,2，3，4 and b1,2，3,4 As shown in Table 2:

[0095] Table 2:

[0096]

[0097] When performing amplitude compensation, calculate the current electric angular velocity k value and compensate the current amplitude according to the k value.

[0098] Step S140: Obtain the second relationship curve between the phase compensation angle and the electric angular velocity, and use the second fitting function to fit the second relationship curve into a second relationship broken line;

[0099] In one embodiment, obtaining the second relationship curve between the phase compensation angle and the electrical angular velocity includes:

[0100] The relationship between the phase compensation angle and the electrical angular velocity is calculated using a sliding mode observer and a phase-locked loop to obtain the second relationship curve.

[0101] Figure 7 A schematic diagram of the second relationship curve provided in an embodiment of this application is shown;

[0102] In one embodiment, fitting the second relationship curve into a second relationship polyline using a second fitting function includes:

[0103] The second fitting function is Equation 6:

[0104]

[0105] Where, ω e Let θ be the electric angular velocity. c q1 is the second fitting compensation coefficient, m1 is the first phase segment node value, m2 is the second phase segment node value, m3 is the third phase segment node value, q1 is the first phase fitting parameter, q2 is the second phase fitting parameter, q3 is the third phase fitting parameter, p1 is the fourth phase fitting parameter, p2 is the fifth phase fitting parameter, and p3 is the sixth phase fitting parameter.

[0106] Second fitting compensation coefficient θ c That is, the phase compensation angle, which uses the same principle as amplitude compensation to compensate for the phase angle θ. c With electric angular velocity ω e The relationship curve is piecewise fitted into a straight line to facilitate the implementation of the microcontroller.

[0107] Specifically, formula 7 can be used for calculation:

[0108]

[0109] In the formula n 1,2,3 and p 1,2,3 As shown in Table 3:

[0110] Table 3:

[0111]

[0112] Step S150: Perform phase compensation on the amplitude compensation result according to the second relationship broken line to obtain the angle compensation result.

[0113] Following a similar process to amplitude compensation, the phase compensation angle is calculated based on the current electric angular velocity, and phase compensation is performed.

[0114] The sensorless angle compensation method provided in this embodiment only improves the software level without adding any additional hardware circuitry, resulting in lower costs. Considering the difficulty of curve fitting with a microcontroller, the compensation parameters are piecewise fitted into straight lines, which is easy to implement. This overcomes the amplitude attenuation and phase lag caused by capacitance, improves sampling accuracy, and reduces the error in sensorless angle calculation.

[0115] Example 2

[0116] Furthermore, this disclosure provides a non-intrusive angle compensation device.

[0117] Specifically, such as Figure 8 As shown, the sensorless angle compensation device 800 includes:

[0118] The sampling module 810 is used to sample the phase-to-ground voltage of the permanent magnet synchronous motor through the sampling circuit to obtain the sampled voltage;

[0119] The first fitting module 820 is used to obtain a first relationship curve between the amplitude compensation multiple and the electric angular velocity of the permanent magnet synchronous motor, and to fit the first relationship curve into a first relationship piecewise line using a first fitting function.

[0120] The first compensation module 830 is used to perform amplitude compensation on the sampled voltage according to the first relationship line to obtain the amplitude compensation result;

[0121] The second fitting module 840 is used to obtain a second relationship curve between the phase compensation angle and the electric angular velocity, and to fit the second relationship curve into a second relationship polyline using a second fitting function;

[0122] The second compensation module 850 is used to perform phase compensation on the amplitude compensation result according to the second relationship line to obtain the angle compensation result.

[0123] The non-sensory angle compensation device 800 provided in this embodiment can realize the non-sensory angle compensation method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0124] The sensorless angle compensation device provided in this embodiment only improves the software level without adding any additional hardware circuitry, resulting in lower costs. Considering the difficulty of curve fitting with a microcontroller, the compensation parameters are piecewise fitted into straight lines, which is easy to implement. This overcomes the amplitude attenuation and phase lag caused by capacitance, improves sampling accuracy, and reduces the error in sensorless angle calculation.

[0125] Example 3

[0126] Furthermore, this disclosure provides an electronic device including a memory and a processor. The memory stores a computer program, which, when executed on the processor, performs the non-sensory angle compensation method provided in Embodiment 1.

[0127] The electronic device provided in this embodiment of the invention can implement the non-sensory angle compensation method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0128] The electronic device provided in this embodiment only involves software improvements without adding any additional hardware circuitry, resulting in lower costs. Considering the difficulty of curve fitting with a microcontroller, the compensation parameters are piecewise fitted into straight lines, which is easier to implement. This overcomes the amplitude attenuation and phase lag caused by capacitance, improves sampling accuracy, and reduces the error in sensorless angle calculation.

[0129] Example 4

[0130] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the non-sensory angle compensation method provided in Embodiment 1.

[0131] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0132] The computer-readable storage medium provided in this embodiment can implement the non-sensory angle compensation method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0133] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0134] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0135] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A non-sensory angle compensation method, characterized in that, The method includes: The sampling voltage is obtained by sampling the phase terminal voltage to ground of the permanent magnet synchronous motor through a sampling circuit. Obtain the first relationship curve between the amplitude compensation multiple and the electric angular velocity of the permanent magnet synchronous motor, and use the first fitting function to fit the first relationship curve into a first relationship piecewise line; The amplitude of the sampled voltage is compensated based on the first relationship line to obtain the amplitude compensation result; Obtain the second relationship curve between the phase compensation angle and the electric angular velocity, and use the second fitting function to fit the second relationship curve into a second relationship piecewise line; Based on the second relationship line, phase compensation is performed on the amplitude compensation result to obtain the angle compensation result; Wherein, the first fitting function and the second fitting function are piecewise functions.

2. The non-sensory angle compensation method according to claim 1, characterized in that, The sampling circuit includes an RC low-pass filter. The sampling circuit samples the phase-to-ground voltage of the permanent magnet synchronous motor to obtain a sampled voltage, including: The original voltage of the phase terminal of the permanent magnet synchronous motor relative to ground is obtained through the input terminal of the RC low-pass filter; The sampled voltage is output through the output terminal of the RC low-pass filter.

3. The non-sensory angle compensation method according to claim 2, characterized in that, The method further includes: the RC low-pass filter includes a first sampling resistor and a second sampling resistor connected in series, and a sampling capacitor connected in parallel with the second sampling resistor; The first end of the first sampling resistor is the input terminal, the second end of the first sampling resistor is electrically connected to the first end of the second sampling resistor, the first end of the sampling capacitor is electrically connected to the first end of the second sampling resistor, the second end of the sampling capacitor is electrically connected to the second end of the second sampling resistor, and the first end of the sampling capacitor is the output terminal.

4. The non-sensory angle compensation method according to claim 1, characterized in that, The first relationship curve between the amplitude compensation factor and the electrical angular velocity of the permanent magnet synchronous motor includes: Obtain the transfer function of the sampling circuit; Generate the Bode plot of the transfer function; The first relationship curve is calculated based on the Bode plot of the transfer function.

5. The non-sensory angle compensation method according to claim 4, characterized in that, The step of fitting the first relationship curve into a first relationship polyline using a first fitting function includes: The first fitting function is: ； in, The electric angular velocity, k The first fitting compensation coefficient is... For the first amplitude segment node value, For the second amplitude segment node value, For the third amplitude segment node value, For the fourth amplitude segment node value, For the fifth amplitude segment node value, a 1 represents the first amplitude fitting parameter. a 2 represents the second amplitude fitting parameter. a 3 represents the third amplitude fitting parameter. a 4 represents the fourth amplitude fitting parameter. b 1 represents the fifth amplitude fitting parameter. b 2 represents the sixth amplitude fitting parameter. b 3 is the seventh amplitude fitting parameter. b 4 represents the eighth amplitude fitting parameter.

6. The non-sensory angle compensation method according to claim 1, characterized in that, The acquisition of the second relationship curve between the phase compensation angle and the electrical angular velocity includes: The relationship between the phase compensation angle and the electrical angular velocity is calculated using a sliding mode observer and a phase-locked loop to obtain the second relationship curve.

7. The non-sensory angle compensation method according to claim 6, characterized in that, The step of fitting the second relationship curve into a second relationship polyline using a second fitting function includes: The second fitting function is: ； in, The electric angular velocity, The second fitting compensation coefficient is... This is the value of the first phase segment node. This is the value of the second phase segment node. This is the value of the third phase segment node. q 1 represents the first phase fitting parameter. q 2 represents the second phase fitting parameter. q 3 represents the third phase fitting parameter. p 1 represents the fourth phase fitting parameter. p 2 represents the fifth phase fitting parameter. p 3 represents the sixth phase fitting parameter.

8. A non-intrusive angle compensation device, characterized in that, The device includes: The sampling module is used to sample the phase-to-ground voltage of the permanent magnet synchronous motor through the sampling circuit to obtain the sampled voltage; The first fitting module is used to obtain a first relationship curve between the amplitude compensation multiple and the electric angular velocity of the permanent magnet synchronous motor, and to use a first fitting function to fit the first relationship curve into a first relationship piecewise line. The first compensation module is used to perform amplitude compensation on the sampled voltage according to the first relationship line to obtain the amplitude compensation result; The second fitting module is used to obtain a second relationship curve between the phase compensation angle and the electric angular velocity, and to fit the second relationship curve into a second relationship polyline using a second fitting function; The second compensation module is used to perform phase compensation on the amplitude compensation result according to the second relationship line to obtain the angle compensation result; Wherein, the first fitting function and the second fitting function are piecewise functions.

9. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program that executes the non-sensory angle compensation method according to any one of claims 1 to 7 when the processor is running.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when run on a processor, executes the non-sensory angle compensation method according to any one of claims 1 to 7.

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